2A1-H13 ばね力を付加するワイヤ駆動による跳躍(ワイヤ駆動系の機構と制御)

概要

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A floor-reaction-force measurement base and joint angle measurement links were created, and man's joint angles and floor reaction forces in a jump were measured. These measured data were inputted into the numerical model of a hopping robot which has a wire rolling-up actuator which attached a spring in series in a wire, and the spring constant which makes a motion of an actuator small was presumed. The motions of a wire rolling-up actuator in consideration of the effect of this spring were approximated by sinusoidal wave forms, and the simulations of man's jumps were carried out. As a result, it was shown that energy of the motor for a jump can be made small to 40% - 60% with a spring as compared with energy without a spring.
一般社団法人日本機械学会の論文
2008-06-06